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2 2016

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An embedded vision-based tracking system for autonomous robot navigation

Mazur K., Kryjak T.

Measurement Automation Monitoring

2016

Vol. 62, No. 5

172--174

In this paper, a prototype of an autonomous vehicle with an FPGA based computing system is described. It uses an ultrasonic sensor and a camera as sources of information about the surrounding environment. The vehicle is able to track an object selected by the operator (it does not need to be defined a-priori). In the proposed solution, the mean-shift algorithm is used. It has been adapted to operate in a pipeline, real-time vision system. The control unit is built of two PD controllers which determine the PWM ratio for the left and right DC drive. The whole system has been implemented on the Atlys development board with Spartan 6 FPGA device from Xilinx.

FPGA Implementation of Multi-scale Pedestrian Detection in Thermal Images

Kańka T., Kryjak T., Gorgon M.

Image Processing & Communications

2016

Vol. 21, no. 3

55--68

In this paper an embedded vision system for human silhouette detection in thermal images is presented. As the computing platform a reprogrammable device (FPGA – Field Programmable Gate Array) is used. The detection algorithm is based on a sliding window approach, which content is compared with a probabilistic template. Moreover, detection is four scales in supported. On the used test database, the proposed method obtained 97% accuracy, with average one false detection per frame. Due to the used parallelization and pipelining real-time processing for 720 × 480 @ 50 fps and 1280 × 720 @ 50 fps video streams was achieved. The system has been practically verified in a test setup with a thermal camera.